Systems and Methods for Building Road Models, Driver Models, and Vehicle Models and Making Predictions Therefrom

ABSTRACT

Systems and methods for building road models, driver models, and vehicle models and making predictions may use driving data received from a plurality of vehicles being driving along a path by a driver. The driving data including a minimum of vehicle location preferably supplemented by data related to the time of observations, vehicle dynamics, and various vehicle sensors. The received data may be categorized into a plurality of maneuvers and a plurality of variables that describe the maneuvers and the received driving data may be identified. A road model may then be built for the path based on the identified variables and maneuvers and the behaviors of a particular driver compared to the road model to assess their driving and intervene as appropriate.

RELATED APPLICATION

This application is NONPROVISIONAL of U.S. Provisional PatentApplication No. 61/912,775 entitled “System and Method forCharacterizing Roads, Driver and Vehicle Sensor Behaviors Based onCriteria Relative to Peers” filed on 6 Dec. 2013, which is incorporatedherein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to methods, apparatus, and systemsbuilding road models, driver models, and vehicle models and makingpredictions therefrom.

BACKGROUND

Traditionally, driving environments are described using traditionalmaps. These maps provide a geographical representation derived fromsensors on a well-equipped survey vehicle. The features that aredetected by these vehicles are generally visual, such as paint markingsdetected by cameras, and spatial, curbs and buildings detected bycameras or LIDAR. In all cases the features are static. The featuresrepresented in the map are available to a single survey vehicle when itpasses and they are generally stable on timescales of yearscorresponding to the time needed to create, distribute and use theresulting map. Features such as average speed or the distribution ofspeeds are not available to the survey vehicles and hence are notintrinsically part of these maps. Speed attributes may be later added toa map based on observations from vehicles or speed limit signs, butthese are used for navigation and planning purposes and are onlyavailable at the link level (that is the time to traverse a section ofroad connecting two intersections).

In the past, practitioners have attempted to derive driver behaviormodels and predict driver patterns (speed, position, acceleration, etc.)based on a map (as described above), sensor data available in thevehicle (radar, vision system, etc.), and/or sensors external to avehicle (hereafter identified as “external observations”). These modelsare often used in traffic simulations to describe the motion ofsimulated vehicles (based on traditional map data), for the evaluationof new vehicle sensors and systems in simulated environments, and forpredicting a future vehicle state, as well as other purposes.

For example, curve speed warning systems provide a warning to a driverif he or she is entering a curve at a speed that is judged to be unsafe.In the simplest case, the speed is judged unsafe if the lateralacceleration is, or is expected to be in some short time interval, abovesome threshold, say 0.4 g, this lateral acceleration is derived from thecurvature of the road and the (expected) speed of the vehicle by therelation a=v/r, where r is the radius of curvature of the road, a is theacceleration, and v is the speed This approach works well in many cases,however, there are cases where this method results in erroneous warningsof excessive speed, which, if low, may result in annoyance to thedriver, or, if the computed speed is too high, a lack of warning whenwarning is appropriate. The errors can result from one of severalmechanisms. One reason for calculating an incorrect speed is errors inthe map. Curvature can be very sensitive to small errors in position forthe road centerline, especially for very tight curves, thus even smallrelative errors in position between points in the map may result insignificant errors in the maximum speed. The second reason for errors isthat the road may be banked in such a way as to allow a higher or lowerspeed. Often bank angle of the road is not included in the map data. Athird reason for errors is compound curves were there may be severaldifferent curvatures in close succession making it very difficult forthe algorithm to properly compute an optimum speed. Errors may also becaused because drivers do not follow the centerline geometry e.g. theycut the curve resulting in a lower radius of curvature than that in thedatabase. Humans may select a higher or lower speed due to otherconsiderations as well, such as the width of the shoulder, the surfaceof the road, the ability to see the full extent of a curve, etc. None ofthese factors are included in the traditional map database. Additionallysome drivers are better than others, or at least drive faster, thus aproper speed alert for one driver is an annoyance alarm for another.

Additionally, existing models have limited fidelity, due in part to thecomplexity of human driving behaviors, but also to the existence of manyfactors a human takes into consideration that are not available tosensors and algorithms used for traditional driver behavior modeling,such as road surface, weather conditions, time of day, vehiclesightlines, etc. The fidelity of existing behavior models are limited bythe content available in existing map databases.

SUMMARY

Computer implemented systems and methods for building road models,driver models, and vehicle models and making predictions therefrom aretherein described. Driving data from a plurality of vehicles beingdriving along a path may be received. Each of the vehicles of theplurality may be driven by a driver. In some circumstances, the drivermay be an autonomous or semi-autonomous driving machine or drivingassistance device.

The data may be categorized into a plurality of maneuvers and aplurality of variables that describe the maneuvers and the receiveddriving data may be identified. A road model may be built for the pathbased on the identified variables and maneuvers. The road model mayinclude a set of reference trajectories for a subsequent vehicle beingdriven at an identical or similar location along the path.

Driving data may then be received from a vehicle separate from theplurality of vehicles as it is being driven on the path by itsrespective driver and one or more characteristics of the driver of theplurality of drivers using the driving data received from the vehicle.The characteristics of the driver may be compared to the road model todetermine driver behavior and a determination as to whether the driverbehavior is consistent with the road model may be made. An action maythen be executed in the vehicle responsively to the determination ofwhether the driver behavior is consistent with the road model, thepredetermined action being at least one of providing a message to thedriver and automatically adjusting a manner in which the vehicle isdriven. Exemplary ways of adjusting the manner in which the vehicle isdriven include braking, continued application of cruise control, removalof cruise control, redirecting a trajectory of the vehicle, acceleratingthe vehicle, modifying an operation of sensor systems resident in thevehicle, modifying an operation of actuator systems resident in thevehicle, modifying a setting of the vehicles suspension apparatus,adjusting the operation of headlights resident in the vehicle, adjustingthe operation of turn indicators, and/or adjusting the configuration ofone or more components of the vehicle's powertrain. Adjusting the mannerin which the vehicle is driven may be responsive to, for example, theroad model, the characteristics of the driver, driver behavior, and adriver preference.

In some embodiments, the method may further include building a drivermodel for the driver using the driver behavior, receiving driver datafrom a third party, and updating the driver model to include the driverdata received from the third party. Demographic data about the drivermay be received and the driver model may be segmented from the receiveddata based on the received demographic data.

The driver behavior may be compared with the driver model and it may bedetermined whether the driver behavior is consistent with the drivermodel. The execution of the predetermined action may be updated in thevehicle responsively to the determination of whether the driver behavioris consistent with the driver model.

In some embodiments, a risk score may be assigned to the driverresponsively to the comparison of the driver behavior to the road andthe driver models, wherein the predetermined action is responsive to therisk score.

The road models may include maneuvers, stopping locations, andpredetermined actions to be performed upon approaching a stoppinglocation is to decrease the speed of the vehicle. For example, a rate atwhich the speed of the vehicle is decreased, a location for beginningdecreasing the speed, a location for coming to a stop are determinedusing at least one of the road model, the characteristics of the driver,driver behavior, and a driver preference.

In some embodiments, the road model may be dynamically updated and/orchanged based on, for example, conditions (e.g., environmental, traffic,road construction, etc.) present on the path.

In another embodiment, one or more characteristics of a vehicle of theplurality of vehicles driven by the driver may be determined based onthe driving data received from the vehicle. The characteristics of thevehicle may be compared to the road model to determine vehicle behaviorand a vehicle model for the vehicle may be built using the driverbehavior. At times, vehicle data may be received from a third party(e.g., insurance company, vehicle manufacturer) and the vehicle modelmay be updated to include the vehicle data received from the thirdparty.

In some instances, vehicle characteristic data relating to the vehiclemay be received and the vehicle model may be updated based on thereceived vehicle characteristic data relating to the vehicle.

In one embodiment, the vehicle behavior may be compared with the drivermodel and the road model. It may then be determined whether the vehiclebehavior is consistent with the driver model and the road model and theexecution of the predetermined action in the vehicle may be updatedresponsively to the determination of whether the driver behavior isconsistent with the driver model and the road model. In somecircumstances, a risk score may be assigned to the vehicle responsivelyto the comparison of the vehicle behavior to the road model, the drivermodel, and the vehicle model, wherein the predetermined action isresponsive to the risk score.

In an alternative embodiment, a prediction regarding how the vehiclewill be driven along the path based on at least one of the road modeland the driver behavior and the execution of the predetermined actionmay be updated in the vehicle responsively to the prediction.

In one embodiment, a driver model may be selected from a plurality ofpreviously generated driver models using at least one of acharacteristic of the driver driving and the driver behavior. Thecharacteristics of the driver may be compared to the selected drivermodel to determine driver behavior. It may then be determined whetherdriver behavior is consistent with the driver model and executing apredetermined action in the vehicle responsively to the determination,the predetermined action being at least one of providing a message tothe driver and automatically adjusting a manner in which the vehicle isdriven.

In another embodiment, a plurality of road models for the path have beengenerated and a road model of the plurality of road models may beselected prior to the comparison of the driver to the road model todetermine driver behavior. The characteristics of the driver may then becompared to the selected road model to determine driver behavior. Attimes, herein the road model may be selected responsively to a drivercharacteristic, the driver behavior, a vehicle characteristic, anenvironmental condition associated with the path, and a trafficcongestion characteristic of the path.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention is illustrated by way of example, and notlimitation, in the figures of the accompanying drawings, in which:

FIG. 1 illustrates an exemplary system within which embodiments of theinvention may be instantiated.

FIG. 2 is a flowchart illustrating an exemplary process for building aroad model, driver model, and/or vehicle model consistent withembodiments of the present invention.

FIGS. 3A-3D depict various examples of received and/or processed drivingdata consistent with embodiments of the present invention.

FIGS. 3E-3I depict various examples of road models consistent withembodiments of the present invention.

FIG. 4 is a flowchart illustrating an exemplary process for determiningwhether driver behavior is consistent with a driver model and/or roadmodel consistent with embodiments of the present invention.

FIG. 5 is a flowchart illustrating an exemplary process for determiningwhether vehicle behavior is consistent with a vehicle model and/or roadmodel consistent with embodiments of the present invention.

FIG. 6 illustrates an example of a computer system in which embodimentsof the invention may be instantiated.

DETAILED DESCRIPTION

The present invention provides systems and methods for buildingbehavioral models of roadways, vehicles, and drivers based on a mapbuilt from observations of driver behavior (not observations of thephysical environment). In this way, models may be built and/or selectedfor use in certain instances, based on the behavior of other peerdrivers and/or vehicles as they drive along a particular path ratherthan traditionally available geographic and cartographic information.

For example, when generating a curve speed warning driving data from aplurality of vehicles that previously drove the path of the curve atissue may be analyzed in order to determine the vehicle's individual andcollective speeds as well as other factors effecting the drivingexperience (e.g., vehicle type, driver type, weather conditions, time ofday) to generate a road model for the path. In the implementation of acurve speed warning system, a speed deemed to be unsafely high fourtraveling along the path (e.g., the 85^(th) percentile speed for thepath) may be established as a warning speed and when drivers meet orexceed the warning speed, the driver may be notified or otherwise warnedthat the speed of the vehicle is unsafely high.

In some circumstances the road model for the curved path may incorporateadditional factors, such as driver-specific behavior, driverpreferences, published speed limits, and vehicle specifications. Curvespeed warning data may then be revised based on these factors and theenriched road model. This approach lends itself to personalization ofboth road model and/or driver model generation as well as when and whatnotifications may be sent to a driver based on driver and/or vehiclebehavior.

The present invention provides the ability to generate alarms only whentrue unsafe conditions are present and, in this way, serves to reducefalse alarms that may be presented to a driver. This capability isenabled by use of a road model built using received driving data, suchas a radar sensor used for object characterization. Objectcharacterization is widely used in intelligent autonomous orsemiautonomous vehicles to gain some understanding of objects ahead ofthe vehicle in order to determine if some action is necessary. Radar isoften used to identify vehicles or obstacles in the lane ahead, stoppedvehicles being particularly difficult to detect since there is norelative motion to the radar returns from the ground. Using traditionalmethods, very sophisticated algorithms are typically required todifferentiate between observed objects, such as stopped car and amanhole cover in a road, or a metal pipe positioned beneath the path.The road, driver, and/or vehicle models described herein use thebehavior of many radar sensors as they pass a section of road and tolearn, without the use of that under certain circumstances (described inpart by the road indices in combination with sensor indices) an alarmcan be expected which is not from a hazard, or conversely that mostvehicles do not see a return so it is likely something new is there thatmay warrant an alarm, or at least more analysis by the vehicle and/ordriver. This information may serve to reduce the processing power neededfor the sensor systems, and may reduce false alarms and increase theprobability of accurate positive detections.

In many instances, the road, driver, and/or vehicle models describedherein may be built without the need for survey vehicle or traditionalmapping data, thereby the cost and time required to generate the modelsis significantly reduced when compared with traditionally generatedmaps. The road, driver, and/or vehicle models are built using vehicleand driver behavior data directly thus; these models do not need to beinferred from geometry or other factors present in a traditional map.Instead, the road, driver, and/or vehicle models contain ranges ofnormal driving behaviors in any given situation.

Turning now to FIG. 1 depicts a block diagram of an exemplary system 100in which embodiments of the present invention may be executed. Drivingdata may be collected by a variety of sensors 115 a-115 n which may beaffixed to or resident in a vehicle, such as vehicles 110 a-110 n andsensor 116, which is not coupled to a vehicle (i.e., an externalsensor). Exemplary sensors 115 a-115 n and 116 include accelerometers,odometers, optical observation equipment (e.g., a camera), soundobservation equipment (e.g., a microphone), lidar equipment, radarequipment, and ultrasonic sensors.

In some embodiments, sensors 115 a-115 n and 116 may store collecteddriving data locally for eventual transmission to a model generationdevice 72 and/or may communicate the collected driving data to modelgeneration device 72 via one or more networks 150 in real time or inclose to real time (i.e., as the vehicle is being driven). Exemplarynetworks 150 include the Internet and networks facilitated by radiocommunication.

Vehicles 110 a-110 n will typically be motorized vehicles, such as acar, truck, and motorcycle. However, in some instances non-motorizedvehicles 110 a-110 n, such as bicycles, strollers, or animals may alsobe used. In most embodiments, driving data will be collected from alarge plurality of vehicles 110 a-110 n (e.g., 100-10,000) but this maynot always be the case. In some embodiments, 110 a-110 n may be enabledwith autonomous or semi-autonomous driving capabilities.

Driving data communicated by sensors 115 a-115 n and/or 116 may bereceived by a driving data storage device 135 and/or model generationdevice 72. Driving data storage device 135 may serve as a data storagedevice for storing the received driving data. Model generation device 72may use they received driving data to generate one or more road models,driver models, and/or vehicle models in accordance with the processesdescribed below. Once the road models, driver models, and/or vehiclemodels are generated, they may be stored in a road/driver/vehicle modelstorage device 130.

In some embodiments, a client device 140 operated by, for example, avehicle driver and/or an administrator of system 100 may be used toaccess, for example, model generation device 72, Road/driver/vehiclemodel storage device 130, and/or driving data storage device 135 inorder to, for example, access road, driver, and or vehicle models orprovide information for use in the generation of these models (e.g.,driver identifying information, GPS coordinate information, driverdemographic information, etc.). In some instances, a third party, suchas an insurance company, a transportation agency, and/or a trafficmonitoring service, may operate client device 140. This information maybe used to update or otherwise modify one or more road, driver, and orvehicle models.

FIG. 2 depicts a process 200 for determining building a road model, adriver model, and/or a vehicle model. Process 200 may be executed by,for example, any of the systems and/or system components discussedherein.

In step 205, driving data from a plurality of vehicles, such as vehicles110 a-110 n and/or sensors, such as sensors 115 a-115 n driving on apath may be received by, for example, a model generation device such asmodel generation device 120. A driving path (referred to herein as“path”) may include a roadway, a set of roadways, a track, or any othergeographical path that a plurality of vehicles traverse in approximatelythe same manner. The driving data may include, for example, vehicletrajectory and other kinematic data (e.g., vehicle position at aparticular time, vehicle speed, a direction of travel for the vehicle,etc.). The driving data may be collected from a plurality ofvehicles/sensors driving on a particular roadway or path and/or aplurality of vehicles driving on a plurality of different roadways orpaths.

In some embodiments, the received data may include information that mayimpact driving behaviors, such as, vehicle parameters/characteristics(vehicle type, weight, size, power, load etc.), driver information(gender, age, skill level, amount of sleep, health, driving history),weather information (rainy, icy, fog, temperature, fair, lighting andsun angle), roadway information (speed limit, road type, trafficcongestion conditions, maintenance and incident information) and otherinformation that may impact driving behaviors. The driving data may berelatively static, such as roadway or waterway positions, or dynamic,such as traffic conditions or vehicle speed.

Next, the received data may be preprocessed in order to, for example,remove errors, anomalies, and/or statistically irrelevant or outlierdata (step 210). In some embodiments, the preprocessing may also act toconvert the received data into more favorable data types before beingprocessed with the ensuing pattern recognition algorithm.

The preprocessing of step 210 may include execution of variousstatistical processes such as, but not limited to, data smoothing,outlier detection, resampling, integration, differentiation, Fourieranalysis, frequency analysis, and/or various conditioning techniquesthat are well known in the art. In some embodiments, the type ofpreprocessing executed may be partially or wholly dependent on the type,source, or amount of data received in step 205. For example, when thedata received is position data, the preprocessing may include smoothingor deletion of points that do not correspond with viable vehiclemovement parameters.

In step 215, the preprocessed data may be categorized to form dataclusters and/or recognize patterns, such as data type (e.g., vehicletype, position, time of day, location, road type, data sources andquality), data source (on-board vehicle sensor, external sensor, GPSsatellite), and/or a plurality of maneuvers. In some embodiments, step215 may include processing the data using one or more data patternrecognition algorithms.

Exemplary data clustering techniques include K-means, Nearest Neighbor,Hierarchical Clustering, Self Organizing Maps, Principal Components orother combinatorial algorithms as described in the literature (forexample “The Elements of Statistical Learning: Data Mining, Inference,and Prediction” by Hastie, Tibshirani and Friedman, Springer Series inStatistics). An example of a data clustering technique applied toreceived data is provided by FIG. 3D, which is discussed in greaterdetail below.

A maneuver may include a particular driving maneuver executed by avehicle or driver when driving along a particular path or path feature(e.g., straightaway, soft left turn, hard left turn, merge into aroadway lane, or swerve left). The specific maneuvers and the totalnumber of maneuvers generated by the execution of step 215 may bedependent upon, for example, the qualities, quality, and/or type of thedata received at step 205.

In some embodiments, a taxonomy of driving maneuvers, data types, and/ordata clusters may be developed as a result of the execution of step 215.This taxonomy may later be used for developing a road model. On someoccasions, the selection of driving maneuvers, data types, and/or dataclusters to be included in the taxonomy may be performed iterativelywith performance of the ensuing variable selection process and/or thepreprocessing steps designed to optimize the system performance and/oroptimize the relevance of the data to the road model. For example, whengenerating the taxonomy of maneuvers, various similar maneuvers,described by similar parameters and indices, may be combined, split orredefined for improved system performance.

In step 220, variables that describe the patterns, data clusters,categorized data, maneuvers and/or un-segmented data streams ofrelevance to a particular road model may be identified. Exemplaryvariables describe position, time and various derivatives (speed,acceleration, jerk along all vehicle axes, etc.). These variables maythen be combined through any of several machine learning algorithmswhich are the generally known to those familiar with thestate-of-the-art and widely described in the literature (as Hastiementioned above).

Variables may be identified via any appropriate process including, butnot limited to, unsupervised techniques, such as principal componentanalysis, which may be used to identify specific variables and reducethe overall number of variables by eliminating highly correlatedvariables. In some embodiments, the elimination of highly correlatedvariables may be performed during an initial stage of road modeling(described below) in order to develop an appropriate description of theaggregated data. Curve fitting and other smoothing approaches may alsobe utilized when identifying variables or building a road model,especially when building geometric descriptions of the data.

FIGS. 3A-3D illustrate various examples of received and/or processeddriving data. For example, FIG. 3A illustrates a graph 301 of the freeflow speed of vehicles as they travel along a path in terms of speed(measured in miles per hour (mph)) verses distance traveled (measured inmeasured in meters (m)) along the path. Graph 301 depicts both the rawspeed as a function of distance data as received in step 205 as well asthe median speed for the path 310. Graph 301 also depicts the 75thpercentile of the median speed for the path 311 and 25th percentiles ofthe median speed for the path 312. The median speed as well as the 75thand 25th percentiles thereof may be determined, for example, in steps210-220.

FIG. 3B illustrates a graph 302 depicting acceleration event densityalong a linear path. The acceleration event density is measured in termsof the number of acceleration events per meter per vehicle and thelinear distance of the path is measured in meters. Graph 302 shows thenumber of acceleration events that occur at various positions along thepath. This information provides an indication of where, along the path,peaks of acceleration events occur and where, along the path,acceleration events do not tend to occur.

FIG. 3C illustrates a graph 303 depicting lateral friction densityverses distance along a path. Friction density is measured in terms oflane changes per vehicle per kilometer (km) and distances or positionsalong the path are measured in terms of meters. Graph 303 depicts thereceived, raw driving data 315, indicating the number of lane changesthat occur at various positions along the path as well as the netlateral friction density 316, one standard of deviation above the netlateral friction density 318 and one standard of deviation below the netlateral friction density 317.

FIG. 3D illustrates a graph 304 depicting free flow speed of vehicles asthey travel along a path in terms of speed (measured in miles per hour(mph)) verses distance traveled (measured in measured in meters (m))along the path, wherein the free flow speed data is subject tostatistical clustering. Graph 304 depicts four speed cluster charts320A-320D generated using the speed of vehicles at various distancesalong the path. Speed cluster charts 320A-320D depicts the speed (mph)of a vehicle verses vehicle count and provides more detailed informationwith regard to the speed of individual vehicles at a particular distancethan graph 304.

Next, a road model that defines or otherwise maps out how the receiveddriving data, categorized data, and identified/determined variablesapply to various locations along a particular path so as to provide adetailed model of many facets of the path aside from and/or in additionto the cartographic and geographic features of the path may be built(step 225). In some instances, the road model may also include a set ofreference trajectories for a subsequent vehicle or series of vehiclesthat may drive along the path and/or a similar path. At times, thesereference trajectories may vary due to path conditions (e.g., trafficflow, weather, etc.).

The path, including any deviations thereof may be represented by the setof variables R. Because of the spatial component of R, each path will beunique for each driving path or roadway. However, a particular locationmay correspond to multiple paths (R) due to different maneuvers (e.g.,turning left, decelerating, turning right) starting or ending at or nearthe particular location.

A path may be represented through many mechanisms. One representation isa set of spatial points, each one associated with a set of parametersdescribing the variation of different variables associated with aparticular spatial point. A second representation of a path includes aset of curves representing the path and another set of curvesrepresenting, for example, a standard of deviation from the path. Forexample, if standard curve for a path is represented by speed as afunction of distance along the path, the standard of deviation for thepath may include distribution curves for a speed of the 75th and 25thpercentile of vehicles along that same path, as is shown in FIG. 3A.This set of curves may also be used in combination with other curves,such as a spatial curve in an X-Y format from which distances and otherspatial relationships for the path can be derived.

Another way in which a path may be generated is by comparing features ofthe data (e.g., position, variables, maneuvers, etc.) to one another Forexample, a maximum yaw rate for a yaw maneuver may be associated with acertain geographic point (latitude and longitude) along the path. Thebeginning of the yaw maneuver may be parameterized as a distance beforethe maximum yaw rate geographic point and the end of the maneuver as adistance after maximum yaw rate. Similarly, deviations from a pathconstructed in this way may be characterized as the earliest onset ofyaw measured as a distance from the standard maximum, or potentiallyfrom the standard starting onset of yaw location.

In some embodiments, the road model may describe one or more paths interms of how they are driven by a plurality of vehicles. Often times,the road model includes spatial components that define the geometryand/or cartography of the paths and behavioral components that describevehicle and/or driver behavior (speed, acceleration, etc.) when drivingthe plurality of roadways. In some embodiments, the road model mayincorporate some, or all, of the variables to describe amultidimensional space associated with the path. In some instances,additional data (e.g., GPS coordinate data or information from a stateor local transportation agency) may also be used to build or augment theroad model.

In some instances, the road model may be generated using variousstatistical analyses of the data received at step 205 and/or thevariables identified at step 220 to develop a standard or averagerepresentation of a path. The path may be built as a multidimensionalspace consisting of potentially all of the kinematic variables, butminimal spatial components describing a geometric path and often atemporal component describing vehicle speeds. In addition to a path, aroad model may include indications of a typical range of vehiclebehaviors when driving the path.

One way of generating a path for a road model includes a cross pathdeviation that may be represented by the variance or standard deviationof the variables for all of the vehicles along a particular path as isshown in FIGS. 3A, 3C, 3F, 3H, and 3J, discussed below. Deviations mayalso be represented by complicated distribution functions, such asbimodal or Poisson distributions, histograms, numerical tables, and/orby adjacent paths describing the, for example, the 90^(th) percentilespatial envelope.

In some embodiments, a road model of a path may include additionalinformation about the path. Examples include average speed and thedistribution of speeds and/or acceleration events at a position alongthe path. A path derived by the method above may vary depending onweather conditions, time of day, traffic or other factors. These otherfactors, if utilized, or captured may be associated with the variouspaths representing a particular driving path.

In some embodiments, execution of a machine learning process with thereceived driving data, categorized data, and identified/determinedvariables may be used to build the road model by way of an iterativeprocess. In later iterations or stages of the road building process, asupervised learning algorithm, such as a Neural Net or a Random Forest(again described in Hastie and other sources) may be used to build orrefine a road model.

In one instance, building a road model may include conductingmultivariate analysis via which various parameters may be evaluated todetermine the set of variables that leads to a minimum cost function foruse in building the road model. These parameters may then be used asindices for the road model, driver model, or vehicle model of which thedriver and vehicle models will be discussed in greater detail below.

In some embodiments, execution of process 200 including preprocessing,categorization, maneuver definition, and multivariate analysis that maybe performed iteratively in order to arrive at the optimum set ofindices for a particular path based on their ability to predict, forexample, vehicle speeds, vehicle accelerations vehicle positions andsensor returns. In these instances, multivariate analysis via whichvarious parameters may be evaluated to determine the set of variablesthat leads to a minimum cost function for use in building the road modelmay be used. These parameters may then be used as indices for the roadmodel, driver model, or vehicle model of which the driver and vehiclemodels will be discussed in greater detail below. At times, the costfunction may be determined based on the parameters for the road model.For example, in an embodiment where a prediction of a speed of a vehicleis being made, the cost parameter used by the supervised learningalgorithm may be related to the difference between the predicted speedand the actual speed for a given vehicle. In this example, the totalroot mean square error of the speed for all vehicles over a givenmaneuver or set of maneuvers is the cost function.

An exemplary road model for a path A and a path B are depicted in FIGS.3E-3H. FIG. 3E depicts the raw driving data for the speed and directionof vehicles as they travel along path A 331B as well as the averagespeed and direction of the vehicles as the travel along path A 332A.FIG. 3F depicts a road model 332A constructed using the average speedand direction of the vehicles as the travel along path A as applied tothe geometrical information for path A.

Path 2 is a curved path and FIG. 3G depicts the raw driving data for thespeed and direction of vehicles as they travel along path B 331D as wellas the average speed and direction of the vehicles as the travel alongpath B 332C. FIG. 3H depicts a road model 332C constructed using theaverage speed and direction of the vehicles as the travel along path Bas applied to the geometrical information for path B.

Another exemplary road model 305 is provided by FIG. 3I in which anaverage speed and direction of travel for vehicles along each of threelanes of a path is depicted 340. An average speed and direction oftravel for vehicles as they exit the path via an exit ramp 342 is alsodepicted. In addition, an average speed and direction of travel forvehicles as they exit the path via an unauthorized lane or road shoulder344 is also depicted. The unauthorized lane or road shoulder traffic 344would not appear on traditional maps of the path, as it is notconsidered a proper roadway.

Optionally, process 200 may proceed to step 235 in which predictions ofhow a path may be driven may be made based upon the road model. Forexample, when the road model includes time dependent data, predictionswith regard to the beginning and ending of periods when a large numberof vehicles will be traveling along the path (i.e., rush hour) may bemade. Additionally, predictions of how vehicles will drive along thepath (e.g., speed, number of lane changes, etc.) may also be made basedupon the road model.

FIG. 3J depicts an exemplary road model 306 that includes predictions ofa likelihood of a conflict between vehicles driving along twointersecting paths 350 and 360. Path 350 is a straight line representinga highway and path 360 is a curved line representing an on ramp for thehighway. Region 355 indicates an area with the greatest changes in speedfor vehicles traveling along path 350 and region 365 indicates an areawith the greatest changes in speed for vehicles traveling along path360. The road model incorporating these two paths may includepredictions as to regions of conflict for vehicles traveling along paths350 and 360. For example, the road model may predict a greaterlikelihood of conflict between vehicles traveling along paths 350 and360 where regions 355 and 365 overlap.

In some instances, road models for different roads may be used todetermine an amount of behavioral similarity between the roads atdifferent locations. This process may also allow for extrapolation orinterpolation of various behavioral variables when geometric variablesare similar and/or make predictions regarding how vehicles may drive apath in the future (step 230). For example, execution of step 230 mayinclude predicting vehicle trajectory when traveling along a path, wherea vehicle will begin to exit a path make a turn, or slow down whenapproaching a stop sign.

In some embodiments, the road model may include information regardingthe operation of the vehicles, other than the way the path is traveledalong by the vehicles. For example, when the received drivinginformation of step 205 includes an indication of when and where avehicle's windshield wipers or turn indicators are activated, thisinformation may also be included in the road model and/or subsequentlygenerated driver model and/or vehicle model, as discussed below withregard to steps 235-260.

In one embodiment, received driving data from one or more drivers whoare the subject(s) of the driver model may be processed to determine oneor more characteristics of the driver(s) (step 235). In some instances,the processing of step 235 may include segmenting or otherwise parsingout information about a particular driver or drivers from theinformation received at step 205 so that it may be processed todetermine the characteristics and/or preferences of the driver(s). Insome circumstances, driver information and/or characteristics may bereceived from a third-party (e.g., an auto insurance company) ordirectly from the driver. These characteristics may then be compared tothe road model (step 240) and the driver model may be built based uponthese comparisons (245).

In some instances, a risk score may be calculated and/or assigned to thedriver responsively to the comparison(s). The risk score may be used to,for example, provide performance feedback to the driver and/or asupervisor of the driver (e.g., employer or parent. Exemplary uses ofthe risk score are for driver education and/or training purposes. Therisk score may be provided to the driver and/or supervisor via, forexample, in-vehicle indications (warning lights or sounds), sending anelectronic message to the driver (e.g., via SMS text message or email)and/or through the setting of insurance rates based on the risk score.

In embodiments where multiple road models are generated or otherwiseavailable, a particular road model may be selected for use in thebuilding of a driver model based on, for example, driver, vehicle, orpath characteristics. A driver model may describe an individualvehicle's deviation from the path of the road model in any of multipledimensions when driven by a particular driver. These deviations may berepresented as a set of parameters collectively identified as W.

The parameters collectively identified as W may be defined in terms of,for example, distance, time, speed, velocity, acceleration rate,deceleration rate or a combination thereof. These parameters may bemeasured relative to, for example, absolute locations or any otheridentifiable feature in the path description provided by the road model.At times, the parameters collectively identified as W may be wholly orpartially dependent upon factors external to the characteristics of aparticular driver, such as vehicle type, vehicle condition, weatherconditions, time of day, time of year, etc.

Referring to these deviations as W offers a concise description ofdriver style and may be used, in some instances, to determine a skilllevel for a driver, a likelihood that the driver will be involved in adriving accident, a likelihood of the driver causing damage to a vehicleby driving it in a manner inconsistent with its intended modes ofoperation, etc. This description may be of interest to, for example,insurance companies, driver-licensing authorities, and hiring managersfor commercial drivers, and driving instructors.

W may also be used by the vehicle industry to establish certain drivingparameters appropriate for a given driver and may perform an action whenan inappropriate parameter presents itself (see description of step 430and 445, provided below).

W may further be used to guide the operation of autonomous,semi-autonomous and driver assistance systems (in conjunction with, forexample, real-time sensor data) to determine when to intervene or thetarget behaviors the vehicle seeks to adjust and/or emulate. W canprovide an indication of times when a driver is outside their comfortzone and intervention is appropriate, even though for many other driverswith different values of W intervention may not be appropriate.Autonomous systems often drive in a manner that is not comfortable forpassengers or may not be a style that a particular passenger enjoys.Using the passenger's W in the autonomous control systems will provide adriving style more pleasing and comfortable to the passenger.

In another embodiment, W may also be used in electronic simulations ofdriving systems to ensure that the vehicle responds in a mannerconsistent with expected driver behaviors. W may also be used in trafficsimulations to provide greater fidelity for the movements of individualvehicles and populations of vehicles when operating the simulation.

The possible parameters associated with W may also be extensive andinclude features occurring along a path that may influence drivingbehavior. Such features may be inherent to a road network along thepath, such as stop signs, traffic lights, lane dividing lines, reducedspeed zones, etc., or may be external to the road network, such asbillboards, sightlines, views, and distractions. In some instances, thefeatures may be present in the behavioral data but unrelated to anyphysically identifiable cause. In this way, if the location where aparticular behavior occurs can be identified in the behavioral database,behaviors can be referenced to that feature, even if the behavior has nocorresponding physical cause.

Examples of other parameters that may be included within W include thepoint at which a driver begins to decelerate for a path feature (curve,stop sign, speed limit change, etc.), where the driver accelerates for apath feature, where the driver begins to turn for a path feature (e.g.for a right turn, shift to the right of the path), how fast the drivertypically accelerates or decelerates and the variance thereof, preferredrates of lateral acceleration, and maximum tilt angles. These parametersmay be determined in relation to in absolute terms (e.g., latitude andlongitude), particular path features (e.g., a distance between two pathfeatures and a time it takes for the driver to travel the distance),population (at the 3σ point) depending on, for example, which referenceis most appropriate for the driver and variable. W may includeparameters describing any of the behavioral variables, possibly underdifferent conditions (e.g., traffic flow or weather) of roadway.

At times, W may also include deviations included within the path. Forexample, W may contain a parameter S that describes the characteristicspeed of the driver with respect to the standard speed. S may be inabsolute units, such as miles per hour, or in standard deviations (e.g.+1.5σ), or some combination thereof. Thus, if S equals 5 mph±1.5σ, adriver would be expected to drive at a speed 1.5σ above the standardspeed (σ being obtained from the standard speed distribution)+5 mph.

In some instances, the parameters of W may be derived from a best-fitcomparison of the individual driver's observed driving to that of areference population of drivers. For an individual driver, the relevantparameters may be selected from a larger set of parameters asappropriate to meet a desired accuracy threshold.

To further illustrate the generation of the driver model, consider thefollowing example of a driver model wherein for a particular driver andappropriate road model, the set of driver parameters, W, for the drivermodel includes the following information: The driver typically drives atthe +1.3σ speed, but begins deceleration maneuvers for turns at a point0.3σ-20 m from the statistically average location for beginning thedeceleration maneuvers as indicated by the road model until the driverreaches a speed 5 MPH above the statistical average for that location.The driver slows for stop signs at an average deceleration rate 0.2σabove average.

Driver models may also be used to detect changes in an individual'sdriving behaviors. This can be done either by recording changes to thecomponents of W that are outside the normal variation for drivers, orfor a particular driver. With sufficient data, the driver of interestmay also implement this process where the reference population is onlytrips. This process is particularly valuable for detecting impairment orfor determining a change in insurance risk for the driver at issue.

In step 250, received driving data from one or more vehicles that arethe subject(s) of a vehicle model may be processed to determine one ormore characteristics of the vehicle(s). In some instances, execution ofsteps 210, 215, and/or 220 may include segmenting or otherwise parsingout information about a particular vehicle or vehicle type from theinformation received at step 205 so that it may be processed todetermine the characteristics of the vehicle or type of vehicle. In somecircumstances, vehicle and/or characteristics may be received from athird-party (e.g., a vehicle manufacturer more mechanic) or from thedriver of the vehicle. These characteristics may then be compared to theroad model (step 255) in a manner similar to that of the comparison ofstep 240 and the vehicle model may be built based upon these comparisons(260).

In some instances, a risk score may be calculated and/or assigned to thevehicle responsively to the comparison(s). The risk score may be usedto, for example, provide performance feedback to the driver and/or avehicle supervisor or manufacturer. Exemplary uses of the risk score arefor driver education, vehicle evaluation, and/or training purposes. Therisk score may be provided to the driver vehicle supervisor, and/orvehicle manufacturer via, for example, in-vehicle indications (warninglights or sounds), sending an electronic message to the driver (e.g.,via SMS text message or email) and/or through the setting of insurancerates based on the risk score.

FIG. 4 depicts a process 400 for determining whether a driver's behavioris consistent with a driver model and/or a road model. Process 400 mayalso be executed to determine predictions of a driver's behavior.Process 400 may be executed by, for example, any of the systems and/orsystem components discussed herein.

Initially, a driver model may be accessed (step 405). The driver modelmay be accessed by, for example, model generation device 120 by queryingroad/driver/vehicle model storage device 130 with, for example, one ormore characteristics of the driver or the path along which the driver isdriving. The driver model may be generated via execution of process 200.In some instances, the driver model accessed in step 405 may be selectedfrom a plurality of previously generated driver models based on, forexample, a characteristic of the driver, a driver preference, anenvironmental condition, a characteristic of the path, and/or somecombination thereof. In this way, driver models may be selected fromother driver models supplied by other peer drivers (i.e., drivers whoshare one or more characteristics (e.g., behavioral or demographic) withthe driver of the vehicle) as well as, or instead of, a driver modelassociated with the vehicle driver. In this way, selection of a drivermodel to apply to process 400 may be personalized.

In some instances, personalization of the selection of step 405 mayinclude selecting, by the driver, a particular type of driver model toapply to process 400. Exemplary types of driver models include cautious,sporty, standard, smooth, etc. and each of these types may be defined byone or more preferences for how the vehicle should be driven. Forexample, if the selected type is “sporty” then the vehicle may be drivenwith greater acceleration rates and shorter stopping distances than whenthe selected type is “cautious.”

Exemplary types of driver models may also incorporate preferences fordriving in certain environmental conditions (e.g., rain, fog, ordarkness), traffic conditions (e.g., freely flowing traffic vs. stop andgo traffic), and/or path types (e.g., preferred stopping distance forhighway driving vs. city driving).

Driving data from a vehicle, such as vehicle 110 a-110 n and/or asensor, such as sensor 115 a-115 n, may then be received (step 410). Thedriving data may be received as the vehicle is being driven and/or afterthe vehicle has been driven. The accessed driver model may be associatedwith, for example, a particular individual or machine driving thevehicle, a group of drivers, and/or drivers associated with a particularpath along which the vehicle is traveling. At times, the accessed drivermodel may change as a driver travels along a path. In some instances,the driver model accessed may be responsive to the accessed road model.

In some instances, the accessed road model may be selected from a set ofroad models based on one or more characteristics of the path beingdriven by the driver when, for example, a road model for the driven pathis not available. In this way, the accessed road model may be associatedwith a roadway that is a peer of the path being driven or road modelthat shares one or more characteristics with the path.

In some instances, the road model accessed in step 415 may be selectedfrom a plurality of previously generated road models based on, forexample, a characteristic of the driver, a driver preference, anenvironmental condition, a characteristic of the path, and/or somecombination thereof. In this way, road models may be selected from otherroad models supplied by other peer drivers/vehicles. In this way,selection of a road model to apply to process 400 may be personalized.

In some instances, personalization of the selection of step 455 mayinclude selecting, by the driver, a particular type of road model toapply to process 400. Exemplary types of road models include informationregarding how vehicles drive along a path according to driving type(e.g., cautious, sporty, standard, smooth, etc.) and each of these typesof road models may be defined by one or more characteristics of how thepath is driven by different types of drivers. For example, if theselected type of road model is “sporty” then the path may be driven withgreater acceleration rates and shorter stopping distances than when theselected type is “cautious.”

Exemplary types of road models may also incorporate preferences fordriving types of paths in certain environmental conditions (e.g., rain,fog, or darkness), traffic conditions (e.g., freely flowing traffic vs.stop and go traffic), and/or path types (e.g., preferred stoppingdistance for highway driving vs. city driving).

Optionally, the accessed road model and/or driver model may change as avehicle travels along a path. For example, if a vehicle driving along apath encounters road construction, the road model for the path may beeither changed to reflect the road construction or a new road model thatincorporates the road construction either generally or along the pathspecifically may be accessed. In this way, the road and/or driver modelmay by dynamically selected according to one or more conditions presentalong the path or with the vehicle or driver. In another example, adriver model consistent with the driver traveling along a straight pathmay be dynamically changed to a driver model consistent with the drivertraveling along a curved path responsively to a prediction and/orreceiving an indication that the driver is approaching a curved highwayexit path.

Optionally, the received data may be compared to the driver and/or roadmodels in order to determine driver behavior (step 420). In someinstances, the results of this comparison may be used to, for example,determine whether the proper driver and/or road model has been accessedand/or whether the driver and/or road model is consistent with thereceived driving data. The accessed road and/or driver model(s) may thenbe, for example, validated, modified, and/or updated based on thecomparison. In some circumstances, the accessed road and/or drivermodel(s) may be changed (i.e., another road and/or driver model(s) maybe selected) and/or use of the accessed road and/or driver model(s) maybe discontinued responsively to the comparison.

In other instances, the comparison of step 420 may be used to determineif the driver behavior is consistent with the road and/or driver model(step 425). The determination of step 425 may be subject to many factorsand tolerances for outlying information. However, in most cases,determining whether driver behavior is consistent with the road and/ordriver model will involve determining whether the current driverbehavior is different from the road and/or driver model in astatistically significant way.

When driver behavior is consistent with the road model and/or drivermodel, driving data may continue to be received from the vehicle (step410) or process 400 may end. When driver behavior is not consistent withthe road model and/or driver model, a predetermined action may beexecuted (step 430). The action to be executed may be predetermined by,for example, an administrator of process 400, a driver, a vehiclemanufacturer, an insurance company, and/or a law enforcement entity. Insome instances, the predetermined action executed may be responsive tothe determined behavior, a type of inconsistency between driverbehaviors and the road model and/or driver model, and degree of severityof the inconsistency. Exemplary actions include a warning, transmissionof a message to the driver, alerting a law enforcement agency, oradjusting the manner in which the vehicle is driven (e.g., slow down,change direction, or speed up).

Additionally, or alternatively, a prediction of driver behavior may bemade (step 435). At times, the prediction may be responsive to, forexample, the comparison of step 420 and/or the determination of step425. Exemplary predictions of driver behavior include when the driverwill begin to slow down in order to execute a maneuver (i.e., exit ahighway or approach a traffic light), how fast a driver may acceleratein order to execute the maneuver (i.e., merge into oncoming traffic orinitiate movement when stopped).

When driver behavior is consistent with the predicted driver behavior,driving data may continue to be received from the vehicle (step 410) orprocess 400 may end. When driver behavior is not consistent with theroad model and/or driver model, a predetermined action may be executed(step 430). The action to be executed may be predetermined by, forexample, an administrator of process 400, a driver, a vehiclemanufacturer, an insurance company, and/or a law enforcement entity. Insome instances, the predetermined action executed may be responsive tothe determined behavior, a type of inconsistency between driverbehaviors and the road model and/or driver model, and degree of severityof the inconsistency. Exemplary actions include a warning, transmissionof a message to the driver, alerting a law enforcement entity, oradjusting the manner in which the vehicle is driven (e.g., slow down orspeed up).

FIG. 5 depicts a process 500 for determining whether a vehicle'sbehavior is consistent with a vehicle model and/or a road model. Process500 may also be executed to determine predictions of a vehicle'sbehavior. Process 500 may be executed by, for example, any of thesystems and/or system components discussed herein.

Initially, a vehicle model may be accessed (step 505). The vehicle modelmay be accessed by, for example, model generation device 120 by queryingroad/driver/vehicle model storage device 130 with, for example, one ormore characteristics of the vehicle or the path along which the vehicleis driving. In some instances, the vehicle model accessed in step 505may be selected from a plurality of previously generated driver modelsbased on, for example, a characteristic of the vehicle (e.g., year,make, and/or model), vehicle performance limits, a driver preference, anenvironmental condition, a characteristic of the path, and/or somecombination thereof. In this way, vehicle models may be selected fromother vehicle models supplied by other peer vehicles (i.e., vehicles whoshare one or more characteristics (e.g., behavioral or demographic) withthe vehicle) as well as, or instead of, a vehicle model associated withthe particular vehicle being driven. In this way, selection of a vehiclemodel to apply to process 500 may be personalized.

In some instances, personalization of the selection of step 505 mayinclude selecting, by the driver, a particular type of vehicle model toapply to process 500. Exemplary types of vehicle models include drivingthe car in a cautious, sporty, standard, smooth, etc. manner and each ofthese types may be defined by one or more preferences for how thevehicle should be driven. For example, if the selected type is “sporty”then the vehicle may be driven with greater acceleration rates andshorter stopping distances than when the selected type is “cautious.”

Exemplary types of vehicle models may also incorporate preferences fordriving in certain environmental conditions (e.g., rain, fog, ordarkness), traffic conditions (e.g., freely flowing traffic vs. stop andgo traffic), and/or path types (e.g., preferred stopping distance forhighway driving vs. city driving).

The vehicle model may be generated via execution of process 200. Drivingdata from a vehicle, such as vehicle 110 a-110 n and/or a sensor, suchas sensor 115 a-115 n, may then be received (step 510). The driving datamay be received as the vehicle is being driven and/or after the vehiclehas been driven.

The accessed vehicle model may be associated with, for example, aparticular individual or machine driving the vehicle, a group ofvehicles, and/or vehicles associated with a particular path along whichthe vehicle is traveling. At times, the accessed vehicle model maychange as a vehicle travels along a path. In some instances, the vehiclemodel accessed may be responsive to the accessed road model.

In some instances, the accessed road model (step 515) may be selectedfrom a set of road models based on one or more characteristics of thepath being driven by the vehicle when, for example, a road model for thedriven path is not available. In this way, the accessed road model maybe associated with a roadway that is a peer of the path being driven orroad model that shares one or more characteristics with the path.

In some embodiments, the road model accessed in step 515 may be selectedfrom a plurality of previously generated road models based on, forexample, a characteristic of the vehicle, a driver preference, anenvironmental condition, a characteristic of the path, and/or somecombination thereof. In this way, road models may be selected from otherroad models supplied by other peer drivers/vehicles. In this way,selection of a road model to apply to process 500 may be personalized.

In some instances, personalization of the selection of step 515 mayinclude selecting, by the driver, a particular type of road model toapply to process 500. Exemplary types of road models include informationregarding how vehicles drive along a path according to driving type(e.g., cautious, sporty, standard, smooth, etc.) and each of these typesof road models may be defined by one or more characteristics of how thepath is driven by different types of drivers. For example, if theselected type of road model is “sporty” then the path may be driven withgreater acceleration rates and shorter stopping distances than when theselected type is “cautious.”

Exemplary types of road models may also incorporate preferences fordriving types of paths in certain environmental conditions (e.g., rain,fog, or darkness), traffic conditions (e.g., freely flowing traffic vs.stop and go traffic), and/or path types (e.g., preferred stoppingdistance for highway driving vs. city driving).

Optionally, the accessed road model and/or vehicle model may change as avehicle travels along a path. For example, if a vehicle driving along apath encounters road construction, the road model for the path may beeither changed to reflect the road construction or a new road model thatincorporates the road construction either generally or along the pathspecifically may be accessed. In this way, the road and/or vehicle modelmay by dynamically selected according to one or more conditions presentalong the path or with the vehicle or driver. In another example, avehicle model consistent with the vehicle traveling along a straightpath may be dynamically changed to a vehicle model consistent with thevehicle traveling along a curved path responsively to a predictionand/or receiving an indication that the vehicle is approaching a curvedhighway exit path.

Optionally, the received data may be compared to the vehicle and/or roadmodels in order to determine vehicle behavior (step 520). In someinstances, the results of this comparison may be used to, for example,determine whether the proper vehicle and/or road model has been accessedand/or whether the vehicle and/or road model is consistent with thereceived driving data. The accessed road and/or vehicle model(s) maythen be, for example, validated, modified, and/or updated based on thecomparison. In some circumstances, the accessed road and/or vehiclemodel(s) may be changed (i.e., another road and/or vehicle model(s) maybe selected) and/or use of the accessed road and/or driver model(s) maybe discontinued responsively to the comparison.

In other instances, the comparison of step 520 may be used to determinewhether the vehicle behavior is consistent with the road and/or vehiclemodel (step 525). The determination of step 525 may be subject to manyfactors and tolerances for outlying information. However, in most cases,determining whether vehicle behavior is consistent with the road and/orvehicle model will involve determining whether the current vehiclebehavior is different from the road and/or vehicle model in astatistically significant way.

When vehicle behavior is consistent with the road model and/or vehiclemodel, driving data may continue to be received from the vehicle (step510) or process 500 may end. When vehicle behavior is not consistentwith the road model and/or vehicle model, a predetermined action may beexecuted (step 530). The action to be executed may be predetermined by,for example, an administrator of process 500, a driver, a vehiclemanufacturer, an insurance company, and/or a law enforcement entity. Insome instances, the predetermined action executed may be responsive tothe determined behavior, a type of inconsistency between vehiclebehaviors and the road model and/or vehicle model, and degree ofseverity of the inconsistency. Exemplary actions include a warning,transmission of a message to the driver or vehicle, alerting a lawenforcement agency, or adjusting the manner in which the vehicle isdriven (e.g., slow down, change direction, or speed up).

Additionally, or alternatively, a prediction of vehicle behavior may bemade (step 535). At times, the prediction may be responsive to, forexample, the comparison of step 520 and/or the determination of step525. Exemplary predictions of vehicle behavior include when the vehiclewill begin to slow down in order to execute a maneuver (i.e., exit ahighway or approach a traffic light), how fast a vehicle may acceleratein order to execute the maneuver (i.e., merge into oncoming traffic orinitiate movement when stopped).

When vehicle behavior is consistent with the predicted vehicle behavior,driving data may continue to be received from the vehicle (step 510) orprocess 500 may end. When vehicle behavior is not consistent with theroad model and/or vehicle model, a predetermined action may be executed(step 530). The action to be executed may be predetermined by, forexample, an administrator of process 500, a driver, a vehiclemanufacturer, an insurance company, and/or a law enforcement entity. Insome instances, the predetermined action executed may be responsive tothe determined behavior, a type of inconsistency between vehiclebehaviors and the road model and/or vehicle model, and degree ofseverity of the inconsistency. Exemplary actions include a warning,transmission of a message to the driver and/or vehicle, alerting a lawenforcement entity, or adjusting the manner in which the vehicle isdriven (e.g., slow down or speed up).

Using the foregoing described systems and processes; the followingapplications of the present invention may be implemented.

The standard behavioral description of a roadway or path, R, may be usedto characterize roads or paths based on their ability to be driven orthe amount of attention required by a driver to safely drive the path.For instance, in a traditional driving scenario, a drivers looking at apath ahead typically forms an assessment of how they will drive alongthe path (e.g., speed, direction, etc.). Most drivers, when looking atthe same section of road, and under similar circumstances, drive thepath in a similar way (e.g., similar speed and direction). To the extentthat they choose dissimilar speeds, the path may be open tointerpretation as to the best speed, and may require more thought on thepart of the driver who has to determine the proper speed for drivingalong the path.

The variance in the speed measurements on a road or path, as included inthe roadway description R, or some other measure of the range of speedschosen, such as the Inter Quartile Range, may also serve as a measure ofthe ease of assessing speed, or the driver workload associated with thepath in question. This measurement may be used as a proxy for workload,which may be used to modulate other communications or distractions tothe driver, such as inputs from driver assistance systems orcommunications systems.

When geometric variables (typically not location) present in a roadmodel, are similar, differences in behavioral variables may representdifferences in the driving styles of the population and may serveindicate different road treatments, such as speed limits or trafficcontrols, imposed by a road management authority are needed. Inaddition, path locations within a road model with higher variance incertain behavioral variables, such as speed, may indicate more difficultsections of road that may deserve attention from and/or adjustment by adepartment of transportation or other road authority. Other behavioralvariables, such as lateral deviations, may indicate potholes or otherroad surface features needing repair.

In some embodiments, road driver and/or vehicle models for a particularpath may be compared with one another in order to, for example,determine a degree of variance therebetween. This degree of variance maythen be used to determine how difficult a path is to drive and/or howmuch driver attention is required in order to drive the path safely. Insome instances, this analysis may be based on a particular peer group ofdrivers and/or vehicles (e.g., drivers/vehicles that have or have notdriven along the path before). These determinations may be relative tothe path itself, the vehicle model, and/or the driver model. Forexample, when the path relates to a section of roadway that includes acurve on an incline, road, driver and/or vehicle models driversassociated with traveling along the path may be used to determine anoptimum speed and/or radius of curvature for traveling along the path.In some instances, this analysis may be performed relative to other peer(i.e., similar) paths, drivers, and/or vehicles. Thus, an optimum speedfor the path may be determined relative to a particular driver and/orvehicle or peer group of drivers and/or vehicles. For example, ifvehicles of a first type (e.g., a truck) tend to travel along the speedat 30 miles per hour, then the vehicle model for the path would indicatethe optimum speed for peer vehicles (other similar trucks) for the pathis 30 miles per hour.

Behavioral variables in R may also be correlated to safety or fueleconomy and may be used in improving the infrastructure to improvesafety and fuel economy. To the extent that the variables in R impactfuel economy, safety, time, distance or any other driving cost they maybe used in routing functions to minimize such costs.

W and R (either separately or together) may be used in electronicsimulations of driving systems to ensure that the vehicle responds in amanner consistent with expected driver behaviors. They may also be usedin traffic simulations to provide greater fidelity for the movements ofindividual vehicles and populations of vehicles.

The road, driver, and/or vehicle models described herein may also beused to determine whether the driving situation along a path is ‘normal’or if there are extenuating circumstances present. Since the baselinebehavior of a path is a statistical description of ‘normal’ for thatpath, the presence of a population of vehicles with behavior deviatingfrom the normal statistics indicates an abnormal situation. Autonomousor semi-autonomous systems within a vehicle may then be configuredrespond to such abnormal situations with appropriate behaviors, such asdisabling cruise control or auto-driving assistance procedures. Forexample, if the baseline data indicates that the negative 3-sigma speedfor a path is 30 MPH and a vehicle receives input from several vehiclesahead that they are travelling at 20 MPH, a conclusion may be reachedthat conditions are not normal. In this situation, the baseline road,driver, and/or vehicle model may be modified to correspond with oneconsistent with 20 MPH speeds, say an icy road surface model, or asystem may choose to disengage and not provide speed recommendations orcontrols to a driver.

When this invention is used in conjunction with automated andsemi-automated driving systems, road models can provide targets forvarious automated processes. Exemplary targets include vehicle speed,lateral position within the lane, acceleration, and deceleration. Thesetargets may be designed to be appropriate for the conditions (e.g.,weather, light glare, vehicle weight, etc.), driving style of the driver(aggressive, non-aggressive), and/or an individual preference, as may bethe case when the vehicle behavior is matched to a driver's behavior(W).

Road models may be used to determine when it is appropriate to enableautomation of a driving experience (e.g., only regions where there areno traffic signals or intersections). Road models may also be used toprovide an indication of when there is anomalous behavior on a road, andthereby provide an indication of when it may be appropriate to disengageautomated functionality.

In some instances, the present invention may provide in IntersectionMovement Assistance (IMA). A typical problem with intersection movement(as may occur at, for example, a four-way stop sign) is deciding whichvehicle goes next through an intersection. This is often “negotiated”between vehicles contesting the intersection by slight movements of thevehicles, often in conjunction with hand motions, blinkers, or othersignals. The present invention may be used to monitor the fine movements(e.g., vehicle movement of a foot or less) of vehicles, as well as othersignals, at an intersection to gain an understanding of the varioussignals sent by vehicles on each of the various intersection approaches.This understanding may be used to automate the signals provided by aparticular vehicle and aid in the interpretation of signals from othervehicles for the driver of the vehicle.

The present invention may also be used to set headways for AutomaticCruise Control (ACC). Headway may be understood as the time or distancebetween a driving vehicle and the vehicle in front of it. The presentinvention may be used to monitor the speed of the vehicle in front ofthe driving vehicle so that an appropriate distance is maintained whenthe car is driving with the assistance of cruise control. The cruisecontrol speed may also be adjusted in accordance with the road, driver,and/or vehicle model based on, for example, road conditions, driverpreferences, terrain and/or environmental conditions.

In some examples, the peer-based assessments described herein may applyto the peers of a particular vehicle implementing this technology, butalso to the peers of any targets (e.g., other vehicles traveling alongthe path, entering or exiting the path) observed by the vehicle. Forexample, a vehicle may have sensors, such as a radar or vision system,that allows it to observe another vehicle on a merging trajectoryleading to a potential conflict. The observing vehicle may be configuredto assess characteristics of the target vehicle to determine a set ofappropriate peers for that vehicle. Characteristics of the peer group ofthe target vehicle may then be used to predict the movement and hencethe probabilities of conflict (based perhaps on expected speed andacceleration) between the observing vehicle and the target vehicle. Thisinformation may then be used to plan trajectories for the observingvehicle so as to avoid a conflict or achieve other objectives.

Targets of observing vehicles may also include non-vehicles, such aspedestrians, livestock, or even inanimate objects such as a soccer ball.As an example of this embodiment, the target may be a pedestrianstanding on the side of the road, one goal of the system is then todetermine if this pedestrian is likely to move in front of the vehicleor not. The peer group may include all pedestrians standing on the sideof the road, but more discrimination may be available from using thepeer group of people standing on the side of the road and facing towardsthe road, and possibly that group facing towards the road but lookingaway from the oncoming vehicle. This embodiment allows for calculationof quantitative probabilities regarding whether the pedestrian will movein front of the vehicle. To the extent that any of these objects, cars,trucks, motorcycles, pedestrians, livestock, or soccer balls havemovement patterns that can be inferred from this approach, and theseobjects can be identified remotely, there movement patterns can bepredicted by the system identifying those objects as described above.

As evident from the foregoing discussion, one or more of the methods orprocesses described herein may be executable on various computer-baseddevices (e.g., clients 14 a-14 n and/or server 12). Such devices, anexample (72) of which is illustrated in FIG. 6, may include anyelectronic device capable of performing the actions described above(using suitable programming) and, where applicable, processing theinformation for display so as to properly convey the information.Examples of such devices include desktop computers, laptop computers,cellphones, smart phones, tablet computers, computer game consoles,portable computer gaming consoles, media players, portable mediaplayers, other mobile devices, and the like.

In such devices, a processor 74 may control the overall functions of theelectronic device such as running applications and controllingperipherals. Such a processor may be any type of processor and maycommunicate (e.g., via bus 96) with network interface device 76 totransmit and receive signals (e.g., cellular, Bluetooth, Wi-Fi, WiLAN,or other communication signals) over a network 16. The processor may usemain memory 78 and/or a cache to store operating instructions 80 and tohelp in the execution of the operating instructions (e.g., such as thetemporary storage of calculations and the like). The processor may alsouse non-transitory storage 82 and/or long-term storage 84 (such as aflash drive, hard disk or other unit comprising a tangible machinereadable medium 86) to store and read instructions, files, and otherdata that requires long term, non-volatile storage.

The processor may communicate and control other peripherals, such as adisplay 88 with associated touch screen sensor, causing images to bedisplayed on the display and receiving input from the touch screensensor when a user presses on the touch-screen display. In someexamples, a touch screen sensor may be a multi-touch sensor capable ofdistinguishing and processing gestures.

The processor may receive input from a physical keyboard 90 and/ormouse/touch pad 92. In other examples, the device may utilize a touchscreen keyboard using the display and touch screen sensor. The processormay produce audio output and other alerts that are played on a speakeror other signal generation device 94. A microphone (not shown) may beused as an input device for the processor to receive commands usingvoice-processing software. In the case of a client 14, an accelerometermay provide input on the motion of the device to the processor. Anaccelerometer may be used in motion sensitive applications, or, forexample, in connection with scrolling content using tilting gestures,etc.

A Bluetooth module may be used to communicate with Bluetooth-enabledexternal devices. A USB port may enable external connections to otherdevices (e.g., mice or other cursor control devices) supporting the USBstandard and charging capabilities. An external storage module mayinclude any form of removable physical storage media such as a flashdrive, micro SD card, SD card, Memory Stick, and the like.

Certain embodiments are described herein as including logic or a numberof components, modules, or mechanisms. Modules or components mayconstitute software modules (e.g., code embodied on a non-transitorymachine-readable medium) or hardware-implemented modules. Ahardware-implemented module is a tangible unit capable of performingcertain operations and may be configured or arranged in a certainmanner. In example embodiments, one or more computer systems (e.g., astandalone, client or server computer system) or one or more processorsmay be configured by software (e.g., an application or applicationportion) as a hardware-implemented module that operates to performcertain operations as described herein.

In various embodiments, a hardware-implemented module may be implementedmechanically or electronically. For example, a hardware-implementedmodule may comprise dedicated circuitry or logic that is permanentlyconfigured (e.g., as a special-purpose processor, such as a fieldprogrammable gate array (FPGA) or an application-specific integratedcircuit (ASIC)) to perform certain operations. A hardware-implementedmodule may also comprise programmable logic or circuitry (e.g., asencompassed within a general-purpose processor or other programmableprocessor) that is temporarily configured by software to perform certainoperations. It will be appreciated that the decision to implement ahardware-implemented module mechanically, in dedicated and permanentlyconfigured circuitry, or in temporarily configured circuitry (e.g.,configured by software) may be driven by cost and time considerations.

Accordingly, the term “hardware-implemented module” should be understoodto encompass a tangible entity, be that an entity that is physicallyconstructed, permanently configured (e.g., hardwired) or temporarily ortransitorily configured (e.g., programmed) to operate in a certainmanner and/or to perform certain operations described herein.Considering embodiments in which hardware-implemented modules aretemporarily configured (e.g., programmed), each of thehardware-implemented modules need not be configured or instantiated atany one instance in time. For example, where the hardware-implementedmodules comprise a general-purpose processor configured using software,the general-purpose processor may be configured as respective differenthardware-implemented modules at different times. Software mayaccordingly configure a processor, for example, to constitute aparticular hardware-implemented module at one instance of time and toconstitute a different hardware-implemented module at a differentinstance of time.

Hardware-implemented modules may provide information to, and receiveinformation from, other hardware-implemented modules. Accordingly, thedescribed hardware-implemented modules may be regarded as beingcommunicatively coupled. Where multiple of such hardware-implementedmodules exist contemporaneously, communications may be achieved throughsignal transmission (e.g., over appropriate circuits and buses) thatconnects the hardware-implemented modules. In embodiments in whichmultiple hardware-implemented modules are configured or instantiated atdifferent times, communications between such hardware-implementedmodules may be achieved, for example, through the storage and retrievalof information in memory structures to which the multiplehardware-implemented modules have access. For example, onehardware-implemented module may perform an operation, and store theoutput of that operation in a memory device to which it iscommunicatively coupled. A further hardware-implemented module may then,at a later time, access the memory device to retrieve and process thestored output. Hardware-implemented modules may also initiatecommunications with input or output devices, and may operate on aresource (e.g., a collection of information).

The various operations of example methods described herein may beperformed, at least partially, by one or more processors that aretemporarily configured (e.g., by software) or permanently configured toperform the relevant operations. Whether temporarily or permanentlyconfigured, such processors may constitute processor-implemented modulesthat operate to perform one or more operations or functions. The modulesreferred to herein may, in some example embodiments, compriseprocessor-implemented modules.

Similarly, the methods described herein may be at least partiallyprocessor-implemented. For example, at least some of the operations of amethod may be performed by one or more processors orprocessor-implemented modules. The performance of certain of theoperations may be distributed among the one or more processors, not onlyresiding within a single machine, but also deployed across a number ofmachines. In some example embodiments, the processor or processors maybe located in a single location, while in other embodiments theprocessors may be distributed across a number of locations.

The one or more processors may also operate to support performance ofthe relevant operations in a “cloud computing” environment or as a“software-as-a-service” (SaaS) service. For example, at least some ofthe operations may be performed by a group of computers (as examples ofmachines including processors), with these operations being accessiblevia a network (e.g., the Internet) and via one or more appropriateinterfaces (e.g., Application Program Interfaces (APIs).)

Example embodiments may be implemented in digital electronic circuitry,or in computer hardware, firmware, software, or in combinations of them.Example embodiments may be implemented using a computer program product,e.g., a computer program tangibly embodied in an information carrier,e.g., in a machine-readable medium for execution by, or to control theoperation of, data processing apparatus, e.g., a programmable processor,a computer, or multiple computers.

A computer program may be written in any form of programming language,including compiled or interpreted languages, and it may be deployed inany form, including as a stand-alone program or as a module, subroutine,or other unit suitable for use in a computing environment. A computerprogram may be deployed to be executed on one computer or on multiplecomputers at one site or distributed across multiple sites andinterconnected by a communication network.

In example embodiments, operations may be performed by one or moreprogrammable processors executing a computer program to performfunctions by operating on input data and generating output. Methodoperations may also be performed by, and apparatus of exampleembodiments may be implemented as, special purpose logic circuitry,e.g., a field programmable gate array (FPGA) or an application-specificintegrated circuit (ASIC).

The foregoing description includes references to the accompanyingdrawings, which form a part of the detailed description. The drawingsshow, by way of illustration, specific embodiments in which theinvention can be practiced. These embodiments are also referred toherein as “examples.” Such examples can include elements in addition tothose shown or described. However, the present inventors alsocontemplate examples in which only those elements shown or described areprovided. Moreover, the present inventors also contemplate examplesusing any combination or permutation of those elements shown ordescribed (or one or more aspects thereof), either with respect to aparticular example (or one or more aspects thereof), or with respect toother examples (or one or more aspects thereof) shown or describedherein.

In this document, the terms “a” or “an” are used, as is common in patentdocuments, to include one or more than one, independent of any otherinstances or usages of “at least one” or “one or more.” In thisdocument, the term “or” is used to refer to a nonexclusive or, such that“A or B” includes “A but not B,” “B but not A,” and “A and B,” unlessotherwise indicated. In this document, the terms “including” and “inwhich” are used as the plain-English equivalents of the respective terms“comprising” and “wherein.” Also, in the following claims, the terms“including” and “comprising” are open-ended, that is, a system, device,article, or process that includes elements in addition to those listedafter such a term in a claim are still deemed to fall within the scopeof that claim. Moreover, in the following claims, the terms “first,”“second,” and “third,” and the like are used merely as labels, and arenot intended to impose numerical requirements on their objects.

Method examples described herein can be machine or computer-implementedat least in part. Some examples can include a computer-readable mediumor machine-readable medium encoded with instructions operable toconfigure an electronic device to perform methods as described in theabove examples. An implementation of such methods can include code, suchas microcode, assembly language code, a higher-level language code, orthe like. Such code can include computer readable instructions forperforming various methods. The code may form portions of computerprogram products. For example, the code can be stored on one or morenon-transitory, or non-volatile tangible computer-readable media, andmay be loaded into volatile media during execution or at other times(e.g., during a transfer between storage devices, etc.). Examples ofthese tangible computer-readable media can include, but are not limitedto, hard disks, removable magnetic disks, removable optical disks (e.g.,compact disks and digital video disks), magnetic cassettes, memory cardsor sticks, read only memories (ROMs), flash memories or other solidstate devices (SSDs) and the like.

1. A computer implemented method comprising: receiving driving data froma plurality of vehicles being driving along a path, each of the vehiclesof the plurality being driven by a driver, the driving data includingvehicle location information; categorizing the data into a plurality ofmaneuvers; identifying a plurality of variables that describe themaneuvers and the received driving data; building a road model for thepath based on the identified variables and maneuvers, the road modelincluding a set of reference trajectories for a subsequent vehicle beingdriven at an identical or similar location along the path; receivingdriving data from a vehicle separate from the plurality of vehicles asit is being driven on the path by its respective driver; determining oneor more characteristics of the driver of the plurality of drivers usingthe driving data received from the vehicle; comparing thecharacteristics of the driver to the road model to determine driverbehavior; determining whether driver behavior is consistent with theroad model; and executing an action in the vehicle responsively to thedetermination of whether the driver behavior is consistent with the roadmodel, the action being at least one of providing a message to thedriver and automatically adjusting an operation of the vehicle as it isdriven.
 2. The computer implemented method of claim 1, furthercomprising: building a driver model for the driver using the driverbehavior; receiving driver data from a third party; and updating thedriver model to include the driver data received from the third party.3. The computer implemented method of claim 1, further comprising:building a driver model for the driver using the driver behavior;receiving demographic data about the driver; and segmenting the drivermodel based on the received demographic data.
 4. The computerimplemented method of claim 1, further comprising: building a drivermodel for the driver using the driver behavior; comparing the driverbehavior with the driver model; determining whether the driver behavioris consistent with the driver model; and updating the execution of theaction in the vehicle responsively to the determination of whether thedriver behavior is consistent with the driver model.
 5. The computerimplemented method of claim 1, wherein the road model includesmaneuvers, stopping locations, and actions to be performed uponapproaching a stopping location.
 6. The computer implemented method ofclaim 1, wherein the action to be performed is at least one ofdecreasing the speed of the vehicle, determining a location at which tobegin decreasing the speed of the vehicle, and determining a location atwhich to come to a stop.
 7. The computer implemented method of claim 1,further comprising: determining one or more characteristics of a vehicleof the plurality of vehicles driven by the driver based on the drivingdata received from the vehicle; comparing the characteristics of thevehicle to the road model to determine vehicle behavior; and building avehicle model for the vehicle responsive to the comparison o thecharacteristics of the vehicle to the road model.
 8. The computerimplemented method of claim 1, further comprising: dynamically updatingthe road model based on conditions present on the path.
 9. The computerimplemented method of claim 1, further comprising: determining one ormore characteristics of a vehicle of the plurality of vehicles driven bythe driver based on the driving data received from the vehicle;comparing the characteristics of the vehicle to the road model todetermine vehicle behavior; building a vehicle model for the vehicleusing the vehicle behavior. comparing the vehicle behavior with thedriver model and the road model; determining whether the vehiclebehavior is consistent with the driver model and the road model; andupdating the execution of the action in the vehicle responsively to thedetermination of whether the driver behavior is consistent with thedriver model and the road model.
 10. The computer implemented method ofclaim 1, further comprising: predicting how the vehicle will be drivenalong the path based on at least one of the road model and the driverbehavior; and updating the execution of the action in the vehicleresponsively to the prediction.
 11. The computer implemented method ofclaim 1, wherein adjusting the operation of the vehicle as it is drivenincludes at least one of braking, continued application of cruisecontrol, removal of cruise control, redirecting a trajectory of thevehicle, accelerating the vehicle, modifying an operation of sensorsystems resident in the vehicle, modifying an operation of actuatorsystems resident in the vehicle, modifying a setting of the vehiclessuspension apparatus, adjusting an operation of headlights resident inthe vehicle, adjusting an operation of turn indicators, and adjusting aconfiguration of one or more components of the vehicle's powertrain. 12.The computer implemented method of claim 1, wherein adjusting theoperation of the vehicle as it is driven is responsive to at least oneof the road model, the characteristics of the driver, driver behavior,and a driver preference.
 13. The computer implemented method of claim 1,further comprising: selecting a driver model from a plurality ofpreviously generated driver models using at least one of acharacteristic of the driver driving the vehicle and the driverbehavior; comparing the characteristics of the driver to the selecteddriver model to determine driver behavior; determining whether driverbehavior is consistent with the driver model; and executing apredetermined action in the vehicle responsively to the determination,the predetermined action being at least one of providing a message tothe driver and automatically adjusting the operation of the vehicle asit is driven.
 14. The computer implemented method of claim 1, wherein aplurality of road models for the path have been generated, the methodfurther comprising: selecting a road model of the plurality of roadmodels prior to the comparison of the driver to the road model todetermine driver behavior; and comparing the characteristics of thedriver to the selected road model to determine driver behavior.
 15. Thecomputer implemented method of claim 1, wherein the road model isselected responsively to a driver characteristic, the driver behavior, avehicle characteristic, an environmental condition associated with thepath, and a traffic congestion characteristic of the path.
 16. Thecomputer implemented method of claim 1, wherein the driving datareceived from the vehicle separate from the plurality further includesan indication of a driving condition along the path, the method furthercomprising: determining whether driving condition is consistent with theroad model, wherein the executed action is responsive the determinationof whether driving condition is consistent with the road model.
 17. Acomputer implemented method comprising: selecting a driver model from aplurality of driver models based on a characteristic of a driver drivinga vehicle along a path; receiving driving data from the vehicle as it isbeing driven on the path; selecting a road model for the path based on acharacteristic of at least one of the path, a driver of the vehicle, andan environmental condition present along the path; comparing thereceived driving data to the driver model and the road model todetermine driver behavior; determining whether driver behavior isconsistent with the driver model and the road model; and executing anaction in the vehicle responsively to the determination, the actionbeing at least one of providing a message to the driver andautomatically adjusting an operation of the vehicle as it is driven. 18.The computer implemented method of claim 17, further comprising:comparing the characteristic of the driver to characteristics of theplurality of driver models prior to the selection of the driver model,where selection of the driver model is responsive to the comparison. 19.A computer implemented method comprising: selecting a vehicle model froma plurality of vehicle models based on a characteristic of a driverdriving a vehicle; receiving driving data from the vehicle as it isbeing driven on a path by the driver; selecting a road model for thepath based on a characteristic of at least one the path, a driver of thevehicle, and an environmental condition present along the path;comparing the received driving data to the vehicle model and the roadmodel to determine vehicle behavior; determining whether vehiclebehavior is consistent with the vehicle model and the road model; andexecuting an action in the vehicle responsively to the determination,the action being at least one of providing a message to the driver andautomatically adjusting an operation of the vehicle as it is driven. 20.The computer implemented method of claim 19, further comprising:comparing the characteristic of the vehicle to characteristics of theplurality of vehicle models prior to the selection of the vehicle model,where selection of the vehicle model is responsive to the comparison.